"Tribunale della liberta e diritto di difesa"

La tesi ha l'intento di evidenziare l'evoluzione del procedimento de libertate, sopratutto per quanto riguarda le garanzie relative al diritto di difesa, per assicurare una maggiore effettività dello stesso. Partendo dalle origini, dall'istituzione del Tribunale della libertà, con la legge del 1982, fino ai giorni nostri, segnalando le importanti modifiche introdotte con la legge n. 47 del 2015

Repetitive control of nonlinear systems via feedback linearization: An application to robotics

In this paper, a novel Repetitive Control (RC) scheme for a class of nonlinear systems is presented and discussed. This work generalizes the approach proposed in Biagiotti et al. (2015) where a RC scheme based on the modification of a B-spline reference trajectory has been presented. Also in this case, the generation of the B-splines based on dynamic filters plays a crucial role in the control scheme since it allows to implement a feedforward action that, coupled with an exact feedback linearization and a stabilizing state feedback, makes the RC robustly asymptotically stable. In this manner, the tracking error at the via-points defining the reference trajectory is nullified even if parametric uncertainties on the system model or exogenous (cyclic) disturbances are present. The application to a two-dof robot manipulator shows the effectiveness of the proposed method and its inherent robustness

STEM Education in the Early Childhood Classroom

This qualitative study focuses on the type of STEM education students are getting at the early childhood level (PK-2). Based on gaps found in literature, an interview protocol was created and six participants with various careers in the field of STEM education were interviewed. The research was concentrated on trying to determine what components of STEM education make it successful in the early childhood classroom. All of the interview responses were analyzed and coded and determined the results found below. A few integral parts of a successful STEM education seem to be curiosity, asking questions and a hands-on component, but this research is very limited and there is still a great amount to explore and investigate

Review of \u3ci\u3eTillie Olsen: One Woman, Many Riddles\u3c/i\u3e by Panthea Reid

The large book by Panthea Reid (449 pages, 16 chapters, a prologue, epilogue, and three appendices) tracks Tillie Olsen\u27s long life (1912-2007) step by step, beginning from the Jewish-Russian origins of both her maternal and paternal families, up to her death on January 1, 2007. The book could have been a useful addition to Olsen scholarship, if not for the biographer\u27s insistent efforts to destroy the image of a writer and a woman who was committed so extensively to unhinging the political, social, and cultural stereotypes built up to contain the action of women in America and elsewhere

Review of \u3ci\u3eTillie Olsen: One Woman, Many Riddles\u3c/i\u3e by Panthea Reid

The large book by Panthea Reid (449 pages, 16 chapters, a prologue, epilogue, and three appendices) tracks Tillie Olsen\u27s long life (1912-2007) step by step, beginning from the Jewish-Russian origins of both her maternal and paternal families, up to her death on January 1, 2007. The book could have been a useful addition to Olsen scholarship, if not for the biographer\u27s insistent efforts to destroy the image of a writer and a woman who was committed so extensively to unhinging the political, social, and cultural stereotypes built up to contain the action of women in America and elsewhere

FIR filters for online trajectory planning with time- and frequency-domain specifications

In this paper, the use of FIR (Finite Impulse Response) filters for planning minimum-time trajectories for robots or automatic machines under constraints of velocity, acceleration, etc. is presented and discussed. In particular, the relationship between multi-segment polynomial trajectories, i.e. trajectories composed of several polynomial segments, each one possibly characterized by constraints on one or more specific derivatives (i.e. velocity, acceleration, jerk, etc.), and FIR filters disposed in a cascade configuration is demonstrated and exploited in order to design a digital filter for online trajectory planning. The connection between analytic functions and dynamic filters allows a generalization of these trajectories, usually obtained by second- or third-order polynomial functions (e.g. trapezoidal velocity and double S velocity trajectories), to a generic order with only a modest increase of the complexity. As a matter of fact, the computation of trajectories with higher degree of continuity simply requires additional FIR filters in the chain. Moreover, the modular structure of the planner provides a direct frequency characterization of the motion law. In this way, it is possible to define the trajectories by considering constraints expressed in the frequency-domain besides the classical time-domain specifications, such as bounds on velocity, acceleration, and so on. Two examples illustrate the main features of the proposed trajectory planner, in particular with respect to the problems of multi-point trajectories generation and residual vibrations suppression

Online trajectory planning and filtering for robotic applications via B-spline smoothing filters

In this paper, a novel technique for online generating trajectories in the 3-D space is presented. The trajectory planner is based on cubic B-splines. However, while the definition of B-splines requires the solution of a global problem that involves the entire set of via-points to be interpolated/ approximated, and therefore it is not suitable for online implementation, the proposed generator is able to approximate spline functions with the prescribed precision on the basis of local computations, which only need the knowledge of a very limited number of via-points. FIR filters are the foundation of this result. As a matter of fact the planner is composed by a first FIR filter for the computation of the control points from the sequence of desired via-points, followed by a chain of moving average filters. Therefore, the generator combines the characteristics of B-spline trajectories (smoothness and minimum curvature) and those of FIR filters (simple structure and computational efficiency). Moreover, besides standard cubic curves, the so-called smoothing B-splines have been considered for online trajectory generation. This allows to find a tradeoff between the possibility of exactly crossing the given via-points and the smoothness of the resulting trajectory. A simple teleoperation task with a Puma 560 industrial manipulator has been arranged for experimentally validating the proposed method. \ua9 2013 IEEE

Online trajectory planner with constraints on velocity, acceleration and torque

A filter for trajectories smoothing is presented. The filter provides an output reproducing the input trajectory if this is compliant with given constraints on the velocity, the acceleration and the torque required for tracking it. Otherwise, the filter approximates the input profile guaranteeing that the output trajectory satisfies all the kinematic and dynamic limits. The tracking of the input signal is optimal in the sense that at each time instant the limit value of one among velocity, acceleration and torque is reached. The filter, based on a variable structure controller, is designed in the continuous-time domain but can be implemented by discretization as a sampled system. It can therefore used in mechatronic and robotic applications driven by digital controllers in order to filter trajectories planned without considering the above mentioned constraints or to generate realtime smooth trajectories by simply providing basic inputs such as step or ramp functions

Optimization of Generalized S-curve Trajectories for Residual Vibration Suppression and Compliance with Kinematic Bounds

This paper proposes a new optimization algorithm that assures the minimum possible duration of generalized S-curve trajectories compliant with kinematic limitations and capable of suppressing residual vibrations when tracked by a resonant plant. Thanks to the possibility of generating such kind of trajectories with a chain of filters, called smoothers, each one characterized by a single parameter, i.e. the duration Ti of its impulse response, the optimization process aims at minimizing the order of the trajectory, and accordingly the number of smoothers in the chain, and leads to rest-to-rest trajectories that, under the given specifications, cannot be made shorter in time. Therefore, the structure of the trajectory is not predetermined but is the outcome of the proposed algorithm together with the optimal parameters defining it. The effectiveness of the proposed approach is proven by applying the designed trajectories to an experimental setup based on a flexible link